version: 66.07.10.p01
glider: 574
mission: 4
dive: 153
start: 10 28 112 10 52 17
data:
$ID,574
$MISSION,4
$DIVE,153
$D_SURF,3
$D_FLARE,3
$D_TGT,1000
$D_ABORT,1050
$D_NO_BLEED,200
$D_BOOST,3
$T_BOOST,0
$T_BOOST_BLACKOUT,0
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,450
$T_MISSION,520
$T_ABORT,720
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,0
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0278
$MASS,53599
$LENGTH,1.8
$NAV_MODE,1
$DIRECT_CONTROL,0
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8500004e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,-4235
$TGT_DEFAULT_LON,-200
$TGT_AUTO_DEFAULT,0
$SM_CC,250
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-5902.2998
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,92
$PITCH_MAX,3858
$C_PITCH,3013
$PITCH_DBAND,0.0099999998
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,27
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.02
$PITCH_ADJ_DBAND,1
$ROLL_MIN,160
$ROLL_MAX,3798
$ROLL_DEG,40
$C_ROLL_DIVE,1913
$C_ROLL_CLIMB,1651
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,30
$R_STBD_OVSHOOT,52
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$ROLL_GAIN_P,0.5
$VBD_MIN,396
$VBD_MAX,3960
$C_VBD,2827
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,4.9999999e-05
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,60
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,100
$MINV_24V,20
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-61.017719
$PRESSURE_SLOPE,0.00011710486
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,20
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,1000
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,5
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-1.812
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,115
$DEVICE3,20
$DEVICE4,134
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,7
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043508084
$SEABIRD_T_H,0.00062732975
$SEABIRD_T_I,2.3669163e-05
$SEABIRD_T_J,2.5502761e-06
$SEABIRD_C_G,-9.9075203
$SEABIRD_C_H,1.1452845
$SEABIRD_C_I,-0.00093430834
$SEABIRD_C_J,0.0001541152
$EBE_ENABLE,0
$GC_WINDOW,20
$GC_LAST_COLLECTION,132
$GPS1,281012,104305,-4215.068,-718.269,28,1.3,28,-21.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.57
$_SM_ANGLEo,-71.0
$GPS2,281012,105123,-4215.002,-718.267,40,1.1,41,-21.9
$SPEED_LIMITS,0.128,0.235
$TGT_NAME,ACC_WP9s
$TGT_LATLONG,-4300.000,-640.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.085,-0.219
$KALMAN_X,-233469.0,162.3,-280.1,357537.1,198.9
$KALMAN_Y,176193.0,12.8,27.1,-108423.7,1893.5
$MHEAD_RNG_PITCHd_Wd,180.6,98139,-13.9,-7.407
$D_GRID,1000
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors
$STATE,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,25,-0.52,-145.9,0.0,0.0,0,82,0.00,0.00,-54.88,0.000,2,0.000,0.000,71,1947,2436,0,0,0,0,0,0
$GC,84,-0.52,-145.9,3.0,-0.8,9,140,12.48,2.20,-33.00,0.000,4,0.269,0.067,2825,3295,3424,0,0,0,0,0,0
$GC,213,-0.52,-145.9,12.5,-9.6,30,221,0.03,2.22,0.00,0.000,6,0.171,0.049,2836,1917,3424,0,0,0,0,0,0
$GC,293,-0.52,-145.9,19.5,-8.8,43,300,0.00,1.17,0.00,0.000,4,0.000,0.060,2836,1189,3425,0,0,0,0,0,0
$GC,402,-0.52,-145.9,29.9,-9.2,61,409,0.00,1.12,0.00,0.000,6,0.000,0.043,2832,1903,3425,0,0,0,0,0,0
$GC,478,-0.52,-145.9,37.1,-9.2,74,484,0.00,0.00,0.00,0.000,6,0.000,0.000,2833,1903,3425,0,0,0,0,0,0
$GC,715,-0.52,-145.9,58.2,-9.0,115,720,0.00,0.88,0.00,0.000,4,0.000,0.058,2832,1365,3425,0,0,0,0,0,0
$GC,800,-0.52,-145.9,66.5,-9.4,130,804,0.00,0.85,0.00,0.000,6,0.000,0.043,2829,1913,3425,0,0,0,0,0,0
$GC,1142,-0.52,-145.9,97.4,-8.6,191,1146,0.00,1.55,0.00,0.000,4,0.000,0.060,2829,965,3424,0,0,0,0,0,0
$GC,1253,-0.52,-145.9,107.0,-8.3,201,1260,0.05,1.50,0.00,0.000,6,0.158,0.040,2840,1915,3425,0,0,0,0,0,0
$GC,1574,-0.52,-145.9,130.3,-7.4,222,1578,0.00,0.47,0.00,0.000,4,0.000,0.057,2841,1600,3425,0,0,0,0,0,0
$GC,1634,-0.52,-145.9,135.1,-7.5,225,1640,0.00,0.50,0.00,0.000,6,0.000,0.043,2839,1934,3425,0,0,0,0,0,0
$GC,1954,-0.52,-145.9,160.5,-8.9,246,1958,0.00,2.08,0.00,0.000,4,0.000,0.063,2839,644,3425,0,0,0,0,0,0
$GC,2026,-0.52,-145.9,168.0,-10.3,250,2031,0.00,1.95,0.00,0.000,6,0.000,0.037,2834,1897,3425,0,0,0,0,0,0
$GC,2354,-0.61,-145.9,199.2,-10.0,271,2358,0.00,2.20,0.00,0.000,4,0.000,0.049,2824,3318,3425,0,0,0,0,0,0
$GC,2448,-0.71,-145.9,209.4,-10.7,276,2457,0.08,2.20,0.00,0.000,6,0.067,0.041,2784,1906,3425,0,0,0,0,0,0
$GC,2770,-0.61,-145.9,248.8,-12.3,297,2775,0.12,2.22,0.00,0.000,4,0.173,0.058,2817,501,3425,0,0,0,0,0,0
$GC,2864,-0.58,-145.9,259.4,-10.6,302,2869,0.03,2.17,0.00,0.000,6,0.186,0.034,2818,1912,3425,0,0,0,0,0,0
$GC,3191,-0.56,-145.9,292.0,-10.0,318,3193,0.00,0.00,0.00,0.000,6,0.000,0.000,2817,1912,3425,0,0,0,0,0,0
$GC,3502,-0.54,-145.9,322.1,-9.9,333,3506,0.08,0.38,0.00,0.000,4,0.209,0.057,2834,1666,3425,0,0,0,0,0,0
$GC,3573,-0.54,-145.9,329.3,-9.1,336,3578,0.00,0.40,0.00,0.000,6,0.000,0.045,2834,1941,3425,0,0,0,0,0,0
$GC,3900,-0.54,-145.9,359.7,-9.5,352,3904,0.00,1.98,0.00,0.000,4,0.000,0.056,2833,684,3425,0,0,0,0,0,0
$GC,3970,-0.54,-145.9,366.4,-10.2,355,3974,0.00,1.85,0.00,0.000,6,0.000,0.034,2826,1899,3425,0,0,0,0,0,0
$GC,4304,-0.62,-145.9,395.7,-8.7,371,4308,0.00,2.20,0.00,0.000,4,0.000,0.049,2818,3319,3425,0,0,0,0,0,0
$GC,4387,-0.74,-145.9,403.8,-9.6,374,4393,0.10,2.17,0.00,0.000,6,0.060,0.038,2767,1914,3424,0,0,0,0,0,0
$GC,4712,-0.61,-145.9,445.5,-13.6,385,4717,0.17,2.25,0.00,0.000,4,0.171,0.055,2813,502,3425,0,0,0,0,0,0
$GC,4834,-0.59,-145.9,459.6,-10.9,388,4839,0.00,2.12,0.00,0.000,6,0.000,0.035,2806,1914,3424,0,0,0,0,0,0
$GC,5147,-0.55,-145.9,494.3,-11.0,399,5151,0.10,0.30,0.00,0.000,4,0.189,0.060,2831,1706,3424,0,0,0,0,0,0
$GC,5282,-0.55,-145.9,506.6,-8.3,403,5285,0.00,0.30,0.00,0.000,6,0.000,0.050,2830,1933,3424,0,0,0,0,0,0
$GC,5621,-0.55,-145.9,534.9,-8.2,414,5625,0.00,1.77,0.00,0.000,4,0.000,0.054,2830,829,3424,0,0,0,0,0,0
$GC,5704,-0.55,-145.9,542.1,-8.9,416,5709,0.00,1.65,0.00,0.000,6,0.000,0.034,2824,1895,3424,0,0,0,0,0,0
$GC,6028,-0.55,-145.9,570.5,-8.9,427,6032,0.00,0.88,0.00,0.000,4,0.000,0.044,2820,2486,3423,0,0,0,0,0,0
$GC,6088,-0.55,-145.9,576.0,-8.9,428,6094,0.00,0.90,0.00,0.000,6,0.000,0.042,2820,1907,3423,0,0,0,0,0,0
$GC,6401,-0.55,-145.9,603.4,-8.8,439,6405,0.00,1.45,0.00,0.000,4,0.000,0.054,2820,990,3423,0,0,0,0,0,0
$GC,6485,-0.55,-145.9,611.0,-9.3,441,6489,0.03,1.42,0.00,0.000,6,0.184,0.037,2824,1911,3423,0,0,0,0,0,0
$GC,6807,-0.55,-145.9,636.6,-7.7,452,6809,0.00,0.00,0.00,0.000,6,0.000,0.000,2824,1911,3422,0,0,0,0,0,0
$GC,7114,-0.55,-145.9,658.8,-7.4,462,7118,0.00,1.33,0.00,0.000,4,0.000,0.053,2824,1080,3422,0,0,0,0,0,0
$GC,7215,-0.55,-145.9,666.0,-7.6,465,7219,0.00,1.27,0.00,0.000,6,0.000,0.037,2822,1907,3422,0,0,0,0,0,0
$GC,7555,-0.55,-145.9,691.2,-7.3,476,7559,0.00,0.70,0.00,0.000,4,0.000,0.052,2822,1455,3421,0,0,0,0,0,0
$GC,7643,-0.55,-145.9,698.4,-8.4,478,7648,0.00,0.73,0.00,0.000,6,0.000,0.040,2820,1927,3421,0,0,0,0,0,0
$GC,7961,-0.55,-145.9,723.4,-8.0,489,7965,0.00,1.30,0.00,0.000,4,0.000,0.054,2820,1114,3421,0,0,0,0,0,0
$GC,8066,-0.55,-145.9,732.0,-7.6,492,8072,0.08,1.25,0.00,0.000,6,0.188,0.036,2832,1918,3420,0,0,0,0,0,0
$GC,8402,-0.58,-145.9,755.2,-6.9,503,8406,0.00,0.73,0.00,0.000,4,0.000,0.052,2832,1452,3420,0,0,0,0,0,0
$GC,8491,-0.61,-145.9,761.4,-6.9,505,8495,0.00,0.73,0.00,0.000,6,0.000,0.040,2831,1925,3420,0,0,0,0,0,0
$GC,8810,-0.64,-145.9,782.7,-6.9,516,8814,0.08,1.77,0.00,0.000,4,0.133,0.055,2801,819,3420,0,0,0,0,0,0
$GC,8926,-0.61,-145.9,793.4,-9.5,519,8931,0.05,1.70,0.00,0.000,6,0.161,0.037,2812,1911,3420,0,0,0,0,0,0
$GC,9249,-0.61,-145.9,818.9,-7.8,530,9250,0.00,0.00,0.00,0.000,6,0.000,0.000,2812,1911,3419,0,0,0,0,0,0
$GC,9555,-0.61,-145.9,844.0,-8.4,540,9557,0.00,0.00,0.00,0.000,6,0.000,0.000,2812,1911,3419,0,0,0,0,0,0
$GC,9862,-0.61,-145.9,873.0,-9.9,550,9865,0.00,1.15,0.00,0.000,4,0.000,0.054,2811,1190,3418,0,0,0,0,0,0
$GC,9972,-0.61,-145.9,884.7,-10.5,553,9977,0.00,1.15,0.00,0.000,6,0.000,0.039,2809,1923,3418,0,0,0,0,0,0
$GC,10302,-0.61,-145.9,919.3,-10.7,564,10306,0.00,0.70,0.00,0.000,4,0.000,0.053,2809,1472,3418,0,0,0,0,0,0
$GC,10395,-0.61,-145.9,929.4,-10.8,566,10401,0.00,0.70,0.00,0.000,6,0.000,0.042,2806,1926,3418,0,0,0,0,0,0
$GC,10708,-0.61,-145.9,960.6,-9.8,577,10712,0.00,1.10,0.00,0.000,4,0.000,0.055,2806,1239,3418,0,0,0,0,0,0
$GC,10813,-0.61,-145.9,970.9,-8.9,580,10818,0.00,1.05,0.00,0.000,6,0.000,0.039,2802,1910,3417,0,0,0,0,0,0
$STATE,11148,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11148,begin apogee
$GC,11152,-0.19,0.0,1002.0,9.0,591,11279,0.50,0.00,123.97,1.522,6,0.138,0.000,2952,1640,2827,0,0,0,0,0,0
$STATE,11280,end apogee,CONTROL_FINISHED_OK
$STATE,11280,begin climb
$GC,11282,0.52,145.9,1007.5,0.0,595,11419,0.68,2.08,129.95,1.483,4,0.081,0.044,3174,2824,2233,0,0,0,0,0,0
$GC,11532,0.34,145.9,1002.2,7.6,603,11537,0.22,1.98,0.00,0.000,6,0.187,0.049,3129,1648,2228,0,0,0,0,0,0
$GC,11873,0.27,212.8,983.7,5.1,614,11935,0.10,0.00,59.20,1.460,6,0.198,0.000,3105,1648,1959,0,0,0,0,0,0
$GC,12238,0.31,283.2,965.9,5.0,626,12305,0.00,0.75,62.33,1.457,4,0.000,0.042,3105,2095,1671,0,0,0,0,0,0
$GC,12338,0.47,329.6,960.3,5.8,629,12385,0.17,0.77,43.33,1.426,6,0.084,0.052,3174,1641,1483,0,0,0,0,0,0
$GC,12691,0.56,329.6,933.2,7.5,640,12695,0.05,1.45,0.00,0.000,4,0.172,0.064,3198,778,1474,0,0,0,0,0,0
$GC,12739,0.50,329.6,929.1,8.8,641,12744,0.05,1.38,0.00,0.000,6,0.170,0.039,3184,1646,1473,0,0,0,0,0,0
$GC,13063,0.47,329.6,899.6,9.2,652,13065,0.08,0.00,0.00,0.000,6,0.210,0.000,3167,1654,1472,0,0,0,0,0,0
$GC,13369,0.47,329.6,872.1,9.2,662,13370,0.00,0.00,0.00,0.000,6,0.000,0.000,3167,1654,1471,0,0,0,0,0,0
$GC,13675,0.47,329.6,842.5,9.8,672,13679,0.00,0.57,0.00,0.000,4,0.000,0.047,3167,2046,1471,0,0,0,0,0,0
$GC,13742,0.47,329.6,835.9,9.7,674,13746,0.00,0.62,0.00,0.000,6,0.000,0.057,3167,1651,1471,0,0,0,0,0,0
$GC,14082,0.47,329.6,803.5,9.3,685,14083,0.00,0.00,0.00,0.000,6,0.000,0.000,3167,1651,1471,0,0,0,0,0,0
$GC,14388,0.47,329.6,775.9,8.9,695,14392,0.00,0.25,0.00,0.000,4,0.000,0.058,3167,1839,1471,0,0,0,0,0,0
$GC,14437,0.47,329.6,771.7,8.5,696,14441,0.00,0.32,0.00,0.000,6,0.000,0.067,3167,1637,1471,0,0,0,0,0,0
$GC,14761,0.47,329.6,743.7,8.6,707,14764,0.00,0.52,0.00,0.000,4,0.000,0.049,3167,1988,1471,0,0,0,0,0,0
$GC,14821,0.47,329.6,738.4,8.6,708,14826,0.00,0.55,0.00,0.000,6,0.000,0.059,3167,1649,1471,0,0,0,0,0,0
$GC,15133,0.47,329.6,711.9,8.5,719,15137,0.00,0.35,0.00,0.000,4,0.000,0.054,3168,1894,1471,0,0,0,0,0,0
$GC,15187,0.47,329.6,707.2,8.9,720,15191,0.00,0.40,0.00,0.000,6,0.000,0.063,3168,1644,1471,0,0,0,0,0,0
$GC,15505,0.47,329.6,678.9,9.1,731,15508,0.00,0.43,0.00,0.000,4,0.000,0.051,3168,1939,1471,0,0,0,0,0,0
$GC,15554,0.47,329.6,674.2,8.9,732,15558,0.00,0.47,0.00,0.000,6,0.000,0.061,3169,1644,1471,0,0,0,0,0,0
$GC,15877,0.47,329.6,641.9,10.2,743,15878,0.00,0.00,0.00,0.000,6,0.000,0.000,3168,1644,1471,0,0,0,0,0,0
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$STATE,23379,end climb,SURFACE_DEPTH_REACHED
$STATE,23379,begin surface coast
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$STATE,23410,end surface coast,CONTROL_FINISHED_OK
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$10V_AH,10.1,29.413
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$FG_AHR_10Vo,0.000
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$CFSIZE,2097086464,2072641536
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